Great Performances: The Hollow Crown This new four-part miniseries incorporating Shakespeare's tales of three British kings, continues with "Henry IV, Part I." Jeremy Irons has the title role of the monarch whose reign is threatened by the ambitious Hotspur (Joe Armstrong) and his family. Tom Hiddleston, Julie Walters and Michelle Dockery also star. 9 p.m. KOCE

Blue Bloods In the season premiere, Frank (Tom Selleck) wants the armed robber who killed an NYPD officer brought to justice, but a lack of evidence forces Erin (Bridget Moynahan) to drop the charges. Donnie Wahlberg also stars. 10 p.m. CBS